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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

By H. T. Chiwaye

Risk analysis is an important step in the design of rock slopes in open pit mining. Risk is defined as the product of the probability of slope failure and the consequences of the failure, and is generally evaluated in terms of safety and economic risk. Most of the risk analysis done at present is based on the use of limit equilibrium (LE) techniques in evaluating the probability of failure (POF) of the slopes. The approach typically makes use of full Monte Carlo simulations of the limit equilibrium models, with all uncertain variables randomly varied. The number of required simulations is generally over a thousand, at times as high as 20 000, in order to produce statistically valid results of the POF. Such an approach is clearly not practical when using numerical modelling programs dueto the high computational effort required. This paper explores the impact of using numerical modelling instead of the traditional LE techniques in evaluating the probability of slope failure. The difference in the overall assessed risk, in terms of economic impact, for the mining operation is then evaluated. With numerical models, approximate methods are used in the calculation of the probability of failure instead of full Monte Carlo simulations. This paper will use a method called the response surface methodology (RSM) for estimating the POF from numerical analyses. Simple slope models were used to verify the accuracy of the RSM method by comparing the results with those obtained from full Monte Carlo simulations. It is shown that there is good agreement between the POF values computed using full Monte Carlo simulation and those obtained using the RSM method. Finally, the use of numerical modelling in the assessment of risk is shown to bring a significant difference in the result compared with that from LE methods. One of the reasons for the difference is that LE models tend to underestimate the failure volumes and hence the consequences of slope failure.

Jan 1, 2010

The VoD of non-ideal explosives depends on the charge diameter and the thickness, strength and sound velocity of the confiner. VoD measurements are made to evaluate explosives for development, quality control and prediction of field performance. In testing, the container is part of the explosive system and affects the measured VoD. Pipe testing in cardboard tubes delivers the best guide to unconfined critical diameter and minimum VoD range, but the thickness of the pipes affects the result close to critical diameter, even in emulsions. PVC pipes are not good for unconfined test work because they provide relatively strong confinement. Care must be taken to select pipes with constant relative pipe area across the range of diameters. Where pipes are used to evaluate the effect of confinement, the ratio of the wall thickness relative to the thickness of the detonation driving zone in the explosive needs to exceed 0.5 to create full confinement and the ratio of the detonation velocity to the confiner wave speed must be considered. Estimates for critical thicknesses are provided from Non-Ideal detonation models. The relationship between confinement modulus and VoD is discussed and indexes are suggested for quantifying the explosive performance.

Jan 1, 2007

By Marwan M. Mohammed, Hani S. Mitri, Wilfrid Comeaul, Baoyao Tang

In many parts of the world, rockbursts have become a major problem of mining at depth. As orebodies are being mined deeper, rockburst phenomena have become familiar to deep hard rock mines. Rockbursts are generally characterised by sudden release of energy in a volume of highly stressed rock, which can cause local violent failure of the rock mass around the opening. One method of controlling these failures is to precondition the rock mass by detonating fully confined explosive charges at the appropriate locations. This method known as destress blasting, was first tried in the deep South African gold mines (Roux et al., 1957), and was widely used later in Canada, United States, France, Poland and Japan.

Jan 1, 1999

By H Thanasekaran, J Kohmuench, B Seaman

To achieve an efficient separation in the flotation process, valuable particles need to be selectively segregated from the gangue while utilising a minimum number of flotation stages. TodayÆs existing flotation technologies are effective for fine particle size classes; however, limitations due to particle buoyancy and bubble-particle detachment restrict the effectiveness of traditional flotation approaches on coarser particles. As a result, flotation circuits are generally configured to process only fine particle size classes in order to maximise recovery in the primary stages. Eriez has invented a novel flotation technology, the HydroFloat, which overcomes these limitations by carrying-out flotation in a dense, fluidised-bed medium allowing for the recovery of coarse particles (>0.250 mm). Over the last 15 years, this technology has been successfully applied to industrial minerals with several full-scale units installed to recover particles up to and exceeding 3 mm diameter in primary flotation circuits. This paper includes discussions on the history of this technology, process theory, existing applications, and a review of recent sulphide-based laboratory test work conducted for Newcrest mining and others. Benefits of this approach, such as improved recovery, low energy consumption and reduced reagent addition will also be reviewed.CITATION:Kohmuench, J, Thanasekaran, H and Seaman, B, 2013. Advances in coarse particle flotation - Copper and gold, in Proceedings MetPlant 2013 , pp 378-386 (The Australasian Institute of Mining and Metallurgy: Melbourne).

Jul 15, 2013

By S. G. Gendler

The choice of ventilation schemes in the Northern Mujsky railway tunnel and definition of the nec-essary quantities of air ensuring regulated radiation conditions in the tunnel system has been accomplished. The influence of natural draught on the stability of tunnel ventilation has been estimated. The design of a portal venti-lation gate allowing minimal influence from natural factors is described. The dependence of pressure loss in the sliding ventilation gates on their spanning value of the vehicle tunnel section has been determined. The selection of parameters for an atmospheric air heating system in winter has been carried out. The operation regimes of air heaters, dependent on the temperature of atmospheric air, have been established.

Jan 1, 2009

This Bureau of Mines report comprises tables listing the name, location, and other pertinent data concerning certain future fuel-related projects. The tables include information on projects involving the proposed or planned development of fuel resources, as well as the development of storage, transportation, and conversion facilities; the report covers the 26 States east of the Mississippi River. Of the total 594 projects for which information is provided, 492 concern coal mines and electric generating plants.

Jan 1, 1976

By Dave Rose, David G. Meadows, Mike Westendorf

"Copper Mountain’s concentrator was commissioned in May 2011. The circuit consists of a 34’ x 20’ EGL SAG mill, a Raptor 900 pebble crusher and two 24’ x 39’6” ball mills. Each mill is equipped with a 2 x 8500 HP dual pinion drive system. The plant was designed to process 1585 mtph of SAG feed. From startup, the mill struggled to meet the required production rates. Over time, a major initiative that involved blasting and fragmentation, optimization of the SAG mill in terms of discharge grates, ball size and slurry density, and operation of up to three mobile pre-crushing plants resulted in significant increases in throughput. In parallel, a number of modeling tools, including JK SimMet, were run based on plant benchmarking exercises. Samples collected at the mine site during ramp up confirmed the very competent nature of the ore with drop weight - A*b values of less than 24 being recorded on a variety of plant feeds and lithologies. After due consideration including demonstration of proof of concept, a new pre-crushing circuit incorporating an XL2000 cone crusher and associated screening equipment was designed, constructed and commissioned at the site in August 2014. This paper reviews the history of the original circuit design, the various optimization steps taken and impacts, together with the final pre-crushing circuit and net results.IntroductionThe Copper Mountain Mine is located approximately 20 km south of Princeton, British Columbia, Canada (refer to Figure 1). The region has a long history of copper mining dating back to 1923. The Copper Mountain camp occurs in the 'eastern volcanic belt' of the Nicola Group (Monger, 1989). It is an alkali copper-gold deposit in which the volcanic strata are intruded by early Jurassic dykes, sills, irregular plugs and zoned plutons (Woodsworth et al., 1992). The stratified rocks are relatively fresh with slight metamorphism in the local contact regions."

Jan 1, 2016

The purpose of this study is to formulate practical guidelines for active underground mining in close proximity to water bodies. This was accomplished through systematic completion of three phases of study: I) Collection and Documentation of Data; II) Application of Existing Guidelines to Case Histories of Previous Inundations; and III) Development of Recommended Guidelines for Underground Coal Mining Near Bodies of Water. Phase I of the study involved a worldwide data collection effort designed to obtain foreign and domestic guidelines for mining near water bodies, and accident records and case histories of accidental mine inundations. Within Phase II, existing guidelines were categorized and classified and then evaluated as to their effectiveness in precluding past inundations had they been in effect at the time of inrush. Advantages and disadvantages of existing guidelines were defined. Drawing on the broad data base established in previous study efforts, Phase III was directed at development of viable guidelines to promote the greatest possible coal extraction while precluding accidental mine inundation. Two levels of guidelines are presented; Level I Guidelines require little or no subsurface exploration on the part of the mine operator, while Level II Guidelines recommend various testing and investigative procedures to permit greatest possible mineral extraction. This report presents findings and conclusions of the study.

Jan 1, 1976

Minerals are vital to any industrialized civilization. Annually, the United States uses more than 4 billion tons of new mineral materials, or about 40,000 pounds per person-about half being mineral fuels and the other half being metals and nonmetallics. Stable and economic domestic mining, mineral, metal, and mineral reclamation industries are essential to the economy. The value of United States energy and processed materials of mineral origin exceeds $200 billion annually. Although a number of minerals are imported, especially some designated as "strategic and critical," most U.S. mineral supplies are derived from the domestic mines and processing facilities that you will be seeing, reading about, and visiting as you use this visitor guide. We hope you enjoy your experiences. This pamphlet, a guide to mining and mineral operations that may be observed or visited and some other points of interest relating to minerals, is intended to aid tourists and students who are interested in mining. Some may wish to study our Nation's romantic past; others may plan to enter the minerals industry as a career; still others may have a primary interest in conservation practices. The pamphlet is also intended to aid State and local officials, Chambers of Commerce, and mining firms in answering some of the many questions of tourists and students.

Jan 1, 1976

By Dean Nichols, Matt Ortel

Explosive accidents in the United States have brought increased attention to emergency operation plans (EOP) at all facilities that manufacture, transport, or store hazardous materials – particularly explosive materials. Explosions are sudden, powerful, and complex events that are difficult to characterize in terms of the thermal, over pressure, and debris effects. Industry, regulatory, and public officials require emergency response planners to not only anticipate the blast effects of an explosion, but also to prepare an appropriate response.

Jan 1, 2016

By X. Q. Ma

The beneficiation test on low grade phosphate ore from a state of Russia is carried out. The rougher-cleaner ? re-cleaner system is used in the flotation process, The fineness of grind is 39.07% minus 200 mesh. The result indicates that concentrate containing 31.25% P2O5 can be obtained from the flotation feed assaying 6.18% P2O5, with 93.54% P2O5 recovery. The test result is also a guideline for further development of some currently operated phosphate beneficiation plants.

Jan 1, 2014

The Hyde Macraes Shear Zone (HMSZ) is an extensive low angle semibrittle mineralised structure in the Otago Schist Belt, New Zealand. The shear zone is located on the lower limb of a late metamorphic recumbent fold. Structural observations suggests that the shear zone initiated as a high strain mylonite zone and transgressed the ductile/brittle boundary (D4) later in its development. A surge zone at Round Hill is bounded to the south by a NE-SW striking lateral ramp which displaces the hanging wall shear (HWS) by 50 m. Oblique strike slip displacement during surge zone propagation created space for deposition of the sheeted vein complex or stockwork. Quartz recrystallisation in stockwork veins suggests that the veins were deformed in a ductile manner and implies that surge zone propagation may have occurred during late D3 deformation. A macroantiform was produced during D3/D4 shortening below the HWS. Over tightening of the antiform hinge created SW and NE-dipping ramp thrusts. Continued strike slip displacement along the lateral ramp rotated the antiform and associated ramps into a south plunging drag fold. Post-mineralisation (D5) structures include NE-dipping nonna! faults below the HWS and SW-dipping low angle imbricate thrusts above the HWS. The development of these structures was kinematically compatible with normal movement on the HMSZ and is related to mid Cretaceous break up of Gondwanaland in the SW Pacific.

Jan 1, 1992

By R. G. Travis

1. Reserve estimates have been made for eight coal beds in Monongalia County, W. Va., but only the Pittsburgh, Sewickley, and Upper Freeport beds are important at this time. The Pittsburgh, Sewickley, Waynesburg, and Upper Freeport beds contain the largest recoverable reserves. 2. Known measured and indicated reserves in all beds, based on a minimum thickness of 14 inches and 1,800 short tons per acre-foot of coal in place, are estimated at 3,526 million tons as of January 1, 1954. Of this total, 3,294 mil-lion tons is in beds 28 inches and more thick. Areas in each bed except the Pittsburgh were omitted from the estimate because available data relative to the bed characteristics are too meager for making an estimate that conforms with the definitions of measured and indicated coal adopted for this study. Should future drilling or development prove reserves in these areas, such reserves should be added to the total estimated reserves.

Jan 1, 1956

These proceedings consist of papers presented at a Bureau of Mines Technology Transfer Seminar in September 1981 for the purpose of disseminating recent advances in mining technology in the area of premining research. The introduction and descriptive papers discuss techniques and instrumentation used in premining research for metal and nonmetal mining and shaft design and borehole control for premine planning.

Jan 1, 1982

By R. A. Isberg, D. A. Parrish, H. Kramer

This report describes the design and implementation of UHF radio and closed-circuit television systems in the Black River room and pillar limestone mine near Butler, Pendleton County, Kentucky. Prior to designing the radio system, measurements of signal attenuation on 812 and 466 mHz were made in the slope tunnel and in the straight and level crosscuts in the mine. Two distributed antenna systems fed by two sets of base stations provide approximately 75% coverage of the mine. Passive reflectors are used for extending signals into intersecting crosscuts and two-way signal boosters will be used to extend signals to the perimeter and obstructed areas of the mine. Fourteen mine vehicles were equipped with mobile radios equipped with digital identification, alarm and status encoders. Fifteen portable transceivers also were used. Six closed-circuit television cameras provide surveillance of critical transfer points of the belt conveyor system, and the loading dock at the base of the slope and an ash disposal area in the mine. Two-way radio communication and closed-circuit television have saved considerable man. hours, increased production, reduced maintenance costs and enhanced safety. Innovative developments were the use of passive reflectors and two-way signal boosters for extending signals into intersecting crosscuts, development of lightweight signal margin measuring equipment, modifications of mobile digital encoders to automatically send status information from mine vehicles such as numbers of loads of ore delivered, hot engine, etc., and the use of CATV technology for multiplexing audio, digital and video signals onto coaxial cables from the surface to the mine.

Jan 3, 1981

By Pasi Korkeakoski

There are about 400 multi-storey buildings founded on wooden piles in the city centre of Turku in Finland. Soil conditions are variable from hard rock to very soft clay. Due to the soil conditions and ground water lowering there are basically four different types of underpinning projects. Under dimensioned cohesion piles in a deep clay layer, decaying cohesion piles, a combination of these two reasons and decaying end bearing piles in a thin clay layer area. Many different execution methods have been used such as impact driving, jacking and drilling and combinations of these.

Jan 1, 2000

By T. T. Chen

The behavior of gold in a conventional copper electrorefinery anode slimes treatment process is expounded on in this study. In the raw anode slimes generated in a copper electrorefinery, gold occurs mainly as tiny particles of metallic gold, which are commonly attached to selenide particles. Some gold is also present in selenide form. Decopperizing the anode slimes retains much of the metallic gold, but also promotes the incorporation of gold in the structure of silver-rich selenide species. A greater fraction of the gold is converted to (Ag,Au)2Se or Ag3AuSe2 when high-Se and high-Ag anode slimes are decopperized at elevated temperatures and pressures. After pelletization and roasting of the slimes, the gold is converted to a (Ag,Au)-alloy and Ag3AuSe2. Smelting of the roaster products eliminates the selenium and converts the gold to a silver-rich (Ag,Au,Pd)-alloy in the dore metal. In the subsequent silver electrorefining process, gold collects as a gold-rich (Au,Ag,Pd)-alloy in the gold mud. Dore smelting rejects many impurities as a silica slag; minor amounts of gold are present as a (Ag,Au,Pd)-alloy in the silica slag. This gold is recovered by flotation and is recycled to the dore furnace. Gold is identified in both the tellurium caustic leach residue and the parting plant wash water mud as tiny particles of metallic gold. These products are also recycled to the dore furnace to recover their gold values.

Jan 1, 2008

By R. L. Grayson

For the years 1990 and 1991, West Virginia's underground coal small-mine fatality rate « 20 employees) was approximately ten times higher than the national coal industry rate. Although the total number of fatalities decreased to 17 in 1992 (from 22 in 1991), West Virginia still led ,the nation in coal mining fatals. A team of mining and safety professionals from West Virginia University studied the problem over the past year, interfacing with the Mine Safety and Health Administration and the West Virginia Office of Miners' Health, Safety and Training. A clear path for 'formal intervention was determined and is presented here.

Jan 1, 1994

By H. Krogerus, P. Jokinen, T. Lintumaa

The energy consumption and recovery of chromium are important economic factors in ferrochrome production. Outokumpu has a lot of experience of the reduction behavior of the sintered pellets in industrial-scale furnaces and also on the grounds of numerous laboratory and pilot-scale investigations. Sintered pellets have shown a superiority over lumpy ore and briquettes made of the same chromite grade. The good performance of the pellets has also resulted in investigations on the reasons for such a performance. In this study, the factors affecting pellet behavior in smelting furnace were investigated. This study is divided into two sections, i.e. the investigations were on the factors affecting solid state reduction and on the factors affecting reduction under melting. These tests were performed by means of thermo gravimetry and by smelting tests. The correlation between the pellet characteristics and reduction behavior was shown and its influence on industrial-scale furnaces was discussed. Factors worth of consideration are for instance, the extent of oxidation during sintering, slag formation and chemistry in respect of molten state reduction, and the grain size of the chromite mineral in the raw material in respect of kinetic reasons (retention time in smelting).

Jan 1, 2007